CN111221333B

CN111221333B - Horizontal guiding system of vehicles with complex road conditions in tunnel based on airflow movement

Info

Publication number: CN111221333B
Application number: CN202010049452.4A
Authority: CN
Inventors: 金杉; 崔文; 金志刚
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2020-01-16
Filing date: 2020-01-16
Publication date: 2021-12-17
Anticipated expiration: 2040-01-16
Also published as: CN111221333A

Abstract

The invention relates to a vehicle horizontal guiding system based on air flow movement and under complex road conditions in a tunnel, which comprises a controller end and a terminal, wherein the terminal comprises a detection module, a media module, a storage module, a processing module, a communication module and a mobile module, wherein the detection module, the media module, the storage module, the processing module, the communication module and the mobile module are arranged on a vehicle. The detection module comprises an anemoscope, a thermometer and a GPS (global positioning system) positioner and is used for detecting the movement direction, the intensity, the ambient temperature and the position condition of the air flow in the unknown space of the tunnel and transmitting the monitoring data to the storage module; the media module consists of a micro pan-tilt camera and a microphone; the device is used for sensing the video information in the unknown space and transmitting the sensing data to the storage module; and the processing module comprises a microprocessor, is used for calling the information stored by the detection and media module in real time from the storage module, is used for selecting a path with safe temperature, accessible opening size and shape and smooth air circulation, establishing a driving scheme, transmitting the driving scheme to the controller end and transmitting the driving scheme to the mobile module for execution.

Description

Horizontal guiding system of vehicles with complex road conditions in tunnel based on airflow movement

Technical Field

The invention relates to the technical field of multi-sensor information fusion, in particular to a set of horizontal guiding system for vehicles with complex road conditions in a tunnel based on airflow movement.

Background

By applying the multi-sensor information fusion technology, the system survival capability can be enhanced, the reliability and the robustness of the whole system can be improved, the reliability of data can be enhanced, the precision can be improved, the time and space coverage rate of the system can be expanded, the real-time performance and the information utilization rate of the system can be increased and the like in the aspects of solving the problems of detection, tracking, target identification and the like. As one of the research hotspots of the multi-sensor fusion, the fusion method has been paid attention to, and a lot of research has been made abroad, and many fusion methods have been proposed. Currently, the common methods for multi-sensor data fusion can be roughly divided into two categories: random and artificial intelligence methods. Different levels of information fusion correspond to different algorithms, including weighted average fusion, Kalman filtering, Bayes estimation, statistical decision theory, probability theory, fuzzy logic reasoning, artificial neural network, D-S evidence theory, and the like.

In practical application, the existing information fusion technology has strong stability and operability, but a targeted model is lacked in the requirement of guiding and sampling an indoor horizontal moving target, and the processing research taking air flow as a reference condition is less.

Specifically, at present, the unmanned technology is still in an experimental stage. On a smooth road surface, the safe running speed of the experimental vehicle is lower than 40km/h, and the moving path is difficult to judge in a self-adaptive manner and an exit is difficult to find and exit from the environment area when the experimental vehicle deals with the complex road condition and the labyrinth environment. Under the conditions of explosion in a tunnel, traffic accidents in a narrow space and the like, a small unmanned self-propelled scout car (hereinafter referred to as a scout car for short) runs in a complex area, the small unmanned self-propelled scout car is mostly remotely controlled by subjective experience of an operator, and the precision of the existing remote control is difficult to accurately position a small moving object in the complex area. On the premise of lacking of environment information of unknown areas of the tunnel, research on an easily-sensed and self-adaptive horizontal movement guiding system and measures for avoiding or reducing the problems become great challenges in vehicle guiding design.

Disclosure of Invention

In the method provided by the invention, based on a multi-sensor information fusion technology, an anemoclinograph, a thermometer, a micro pan-tilt camera, a microphone, a GPS device and an antenna are arranged at the top of a scouting vehicle, a development board, a microprocessor chip slot and a memory card slot are arranged in the vehicle, air supply is carried out according to external natural wind or a fan at an inlet, intelligent judgment is carried out, an outlet or an original path at the other side is searched and searched for and returned, wireless communication with an inlet controller can be carried out, and real-time environment audio-visual data in a tunnel are wirelessly returned. The technical scheme is as follows:

a vehicle horizontal guidance system based on complex road conditions in a tunnel of airflow movement comprises a controller end and a terminal, wherein the terminal comprises a detection module, a media module, a storage module, a processing module, a communication module and a mobile module, the detection module, the media module, the storage module, the processing module, the communication module and the mobile module are arranged on the lower portion of a vehicle,

and the detection module comprises an anemoscope, a thermometer and a GPS (global positioning system) positioner and is used for detecting the movement direction, the intensity, the ambient temperature and the position condition of the air flow in the unknown space of the tunnel and transmitting the monitoring data to the storage module.

The media module consists of a micro pan-tilt camera and a microphone. The device is used for sensing the video information in the unknown space and transmitting the sensing data to the storage module.

And the storage module is responsible for storing the monitoring sensing data of the detection module and the media module, is used for the processing module to call and analyze, and provides the monitoring sensing data for the communication module to send to the rear controller.

And the processing module comprises a microprocessor, is used for calling the information stored by the detection and media module in real time from the storage module, is used for selecting a path with safe temperature, accessible opening size and shape and smooth air circulation, establishing a driving scheme, transmitting the driving scheme to the controller end and transmitting the driving scheme to the mobile module for execution.

And a moving module including a steerable wheel disposed at a lower portion of the vehicle, the moving module performing a movement according to a driving scheme of the processing module.

And the communication module is used for transmitting the data of the storage module and the scheme instruction of the processing module to the controller end in real time and transmitting the instruction of the controller end to the processing module so as to realize uplink and downlink duplex communication.

Preferably, the processing module determines that the airflow is lower than a set threshold value according to the data detected by the detection module, if the airflow is not detected, the front part is determined to be a broken road, and the vehicle is guided to return to the entrance or move in the reverse direction of the airflow movement; when more than two paths are detected in front, the path with the fastest airflow speed is selected to move. And the controller end comprises an entrance controller, a display screen, a communication module and a rear server and is used for issuing control instructions including energy consumption, movement and monitoring modes to the vehicle in real time, and storing, feeding back and displaying communication information.

The invention is based on the multi-sensor information fusion technology, an anemoclinograph, a thermometer, a micro cradle head camera, a mic, GPS equipment and an antenna are arranged at the top of a scout vehicle, a development board, a microprocessor chip slot and a memory card slot are arranged in the vehicle, intelligent judgment is carried out according to external natural wind or fan air supply at an inlet, an outlet or an original path at the other side is searched and explored for returning, and the intelligent vehicle can wirelessly communicate with an inlet controller and wirelessly return real-time environment audio-visual data in a tunnel. On the premise of lacking the environmental information of the complex environment area of the tunnel, an easily-inductive and self-adaptive horizontal movement guiding system is researched by means of air fluid movement, and the problem that the small unmanned self-propelled reconnaissance vehicle is in self-adaptive positioning driving in the complex area under the conditions of explosion in the tunnel, traffic accidents in a narrow space and the like is effectively solved.

Drawings

FIG. 1 shows the steps of assembling the apparatus of the present invention

FIG. 2 is a flow chart of the operation of the system of the present invention

FIG. 3 is a functional relationship diagram of modules of the present invention

FIG. 4 is a schematic view of the operation level of the present invention

Detailed Description

Reference will now be made in detail to implementations of the present invention. The following embodiments will be described with reference to the accompanying drawings for the purpose of illustrating the invention.

The invention is based on the multi-sensor information fusion technology, an anemoclinograph, a thermometer, a micro pan-tilt camera, a mic, a GPS device and an antenna are arranged at the top of a scout vehicle, a development board, a microprocessor chip slot and a memory card slot are arranged in the vehicle, intelligent judgment is carried out according to the outside natural wind or the wind supply of a fan at an inlet, an outlet or an original path at the other side is searched and explored, the intelligent judgment can be carried out, the wireless communication with an inlet controller can be realized, and the real-time environment audio-visual data in a tunnel can be wirelessly returned. On the premise of lacking of unknown regional environmental information of the tunnel, an easily-inductive and self-adaptive horizontal movement guiding system is researched by means of air fluid movement, and the problem that the reconnaissance vehicle is in self-adaptive positioning driving in a complex region under the conditions of explosion in the tunnel, traffic accidents in a narrow space and the like is effectively solved. The invention relates to a vehicle horizontal guiding system based on airflow movement and under complex road conditions in a tunnel, which comprises:

the detection module consists of an anemoscope, a thermometer and a GPS (global positioning system) positioner. The device is used for detecting the moving direction, the intensity, the ambient temperature and the position of the air flow in the unknown space of the tunnel and transmitting the monitoring data to the storage module.

And the media module consists of a micro cradle head camera and a mic. The device is used for sensing the video information in the unknown space and transmitting the sensing data to the storage module.

And the storage module consists of 2 high-speed SD cards and is divided into a main storage card and a standby storage card. The monitoring module is responsible for storing the monitoring sensing data of the detection module and the media module, is used for the processing module to call and analyze, and is provided for the communication module to send to the rear controller.

And the processing module consists of a development board and a microprocessor. The information stored by the detection and media module is called from the storage module in real time and is used for selecting a path with safe temperature, accessible opening size and shape and smooth air circulation, establishing a driving scheme, transmitting the driving scheme to the rear controller and transmitting the driving scheme to the mobile module for execution. And monitoring the residual electric quantity of the lithium battery of the power supply module and predicting the residual service time.

And the moving module consists of 2 groups of steerable wheels and performs movement according to the driving scheme of the processing module.

And the communication module consists of an antenna, a wifi router, a sim card and a related modem. The system is used for transmitting the data of the storage module and the scheme instruction of the processing module to the controller at the entrance in real time, and transmitting the manual instruction of the controller to the processing module to realize the uplink and downlink duplex communication.

The power supply module consists of a large-capacity and light lithium battery. The monitoring system is responsible for supplying power to other modules on the scout car and is monitored and controlled by the energy consumption of the processing module.

The controller end is composed of an entrance controller, a display screen, a communication module and a rear server, can issue control instructions such as energy consumption, movement and monitoring modes to the reconnaissance car in real time, and stores and feeds back display communication information.

FIG. 1 shows the sequence of development of the six steps of the invention, respectively:

(1) and installing accessories on the development board. The method comprises the following steps: microprocessor, SD card, communication module, etc.

(2) And wiring is connected in the scout car. And correspondingly connecting the detection module, the media module, the mobile module, the power supply module and the like by using a data line and a power supply line to complete the internal structure setting of the scout car.

(3) And connecting the controller end. And the controller, the communication module, the server and the power supply are in wired connection through a data line and a power supply line.

(4) And starting the fan. And starting a fan at the entrance of the complex environment of the tunnel to form airflow.

(5) Parameters are debugged as needed. In the air flow environment, the accuracy of the environment judgment and the weighted proportion of the RBF network parameters are close to the requirements by the continuous testing and debugging system.

(6) Under the condition of fan air supply, the equipment is remotely controlled to be placed in a complex environment in a tunnel, and the return inlet and the unknown outlet searching capability of the scout car are respectively tested.

FIG. 2 is a flow chart of the present invention.

The method comprises the following steps: and starting the fan. And starting a fan at the entrance of the complex environment of the tunnel to form airflow.

Step two: and acquiring data under a complex environment through the detection module, and storing the data into an SD card of the scout car.

Step three: the processing module calls the monitoring data from the storage module to see whether the wind speed is higher than a threshold value. If yes, fusing the multi-sensor data obtained through monitoring by using an RBF network, and drawing up a real-time driving direction and speed; if not, the result shows that the user has no way forward and should return.

Step four: and (5) implementing moving running. And executing by the mobile module according to the real-time scheme of the step three.

Step five: the recorded real-time video and audio data is shot through the media module, and whether the recorded real-time video and audio data reaches the outside of an unknown area is judged. If so, the path finding is successful, and the movement is finished; if not, returning to the step three, judging the air flow speed, and entering the next moving period.

FIG. 3 shows the relationship of functional modules according to the present invention. The device is mainly divided into two parts: a scout car and a controller. The solid arrows in the figure are the information and instruction directions; the dashed arrow is the power supply direction.

On the reconnaissance car, the detection module stores data such as wind direction, wind speed, temperature, position and the like, and media acousto-optic information into an SD card of the storage module, and a time mark is marked on each monitoring period. And the processor calls the information of the latest time mark, performs RBF network information fusion to obtain the next action direction and speed instruction, and transmits the next action direction and speed instruction to the mobile module to realize the driving of the scout car. The processing module monitors the energy consumption of a power supply battery in the scout car; the power supply module battery supplies power for each module in the scout car. Meanwhile, the mobile scheme of the processing module, the real-time monitoring of the storage module and the acousto-optic information are transmitted to the controller end through the communication module and finally stored in the server.

At the controller side, all information transmitted from the communication module is stored in the server. The controller calls and checks the information in real time, and can remotely control and command each function of the scout car and debug the data on the car through the communication module.

Fig. 3 is a schematic diagram of the operational level of the present invention. In the figure, the solid line arrow is the selective moving direction of the scout car, and the dotted line arrow is the air flow direction. The trolley is initially set to move along the direction of the airflow.

When the scout car runs to the point A, no airflow is detected, which indicates that the position is the broken road, and the scout car automatically and manually retreats to the entrance under the instruction of the controller or automatically moves in the reverse direction of the airflow movement, so that the broken road can be pushed out.

The scout car drives to the point B, detects two paths to the exit B and the exit C, but selects to move to the exit B because the wind speed to the exit B is faster.

Claims

1. A vehicle horizontal guidance system based on complex road conditions in a tunnel of airflow movement comprises a controller end and a terminal, wherein the terminal comprises a detection module, a media module, a storage module, a processing module, a communication module and a mobile module, the detection module, the media module, the storage module, the processing module, the communication module and the mobile module are arranged on the lower portion of a vehicle,

the detection module comprises an anemoscope, a thermometer and a GPS (global positioning system) positioner and is used for detecting the movement direction, the intensity, the ambient temperature and the position condition of the air flow in the unknown space of the tunnel and transmitting the monitoring data to the storage module;

the media module consists of a micro pan-tilt camera and a microphone; the device is used for sensing the video information in the unknown space and transmitting the sensing data to the storage module;

the storage module is responsible for storing the monitoring sensing data of the detection module and the media module, is used for the processing module to call and analyze, and is provided for the communication module to send to the rear controller;

the processing module comprises a microprocessor, is used for calling information stored by the detection and media module in real time from the storage module, is used for selecting a path with safe temperature, accessible opening size and shape and smooth air circulation, establishes a driving scheme, transmits the driving scheme to the controller end and transmits the driving scheme to the mobile module for execution; the processing module judges that the airflow is lower than a set threshold value according to the data detected by the detection module, if the airflow is not detected, the front part is judged to be a broken road, and the vehicle is guided to return to the entrance or move in the reverse direction of the airflow movement; when more than two paths are detected in front, selecting the path with the highest airflow speed to move;

a moving module including a steerable wheel disposed at a lower portion of the vehicle and moving according to a driving scheme of the processing module;

2. The vehicle horizontal guiding system of claim 1, wherein the controller end comprises an entrance controller, a display screen, a communication module and a rear server, and is used for issuing control instructions including energy consumption, movement and monitoring modes to the vehicle in real time, and storing and feeding back display communication information.